gobot.io/x/gobot/v2@v2.1.0/platforms/parrot/ardrone/ardrone_driver.go (about)

     1  package ardrone
     2  
     3  import (
     4  	"gobot.io/x/gobot/v2"
     5  )
     6  
     7  const (
     8  	// Flying event
     9  	Flying = "flying"
    10  )
    11  
    12  // Driver is gobot.Driver representation for the Ardrone
    13  type Driver struct {
    14  	name       string
    15  	connection gobot.Connection
    16  	gobot.Eventer
    17  }
    18  
    19  // NewDriver creates an Driver for the ARDrone.
    20  //
    21  // It add the following events:
    22  //
    23  //	'flying' - Sent when the device has taken off.
    24  func NewDriver(connection *Adaptor) *Driver {
    25  	d := &Driver{
    26  		name:       gobot.DefaultName("ARDrone"),
    27  		connection: connection,
    28  		Eventer:    gobot.NewEventer(),
    29  	}
    30  	d.AddEvent(Flying)
    31  	return d
    32  }
    33  
    34  // Name returns the Driver Name
    35  func (a *Driver) Name() string { return a.name }
    36  
    37  // SetName sets the Driver Name
    38  func (a *Driver) SetName(n string) { a.name = n }
    39  
    40  // Connection returns the Driver Connection
    41  func (a *Driver) Connection() gobot.Connection { return a.connection }
    42  
    43  // adaptor returns ardrone adaptor
    44  func (a *Driver) adaptor() *Adaptor {
    45  	return a.Connection().(*Adaptor)
    46  }
    47  
    48  // Start starts the Driver
    49  func (a *Driver) Start() (err error) {
    50  	return
    51  }
    52  
    53  // Halt halts the Driver
    54  func (a *Driver) Halt() (err error) {
    55  	return
    56  }
    57  
    58  // TakeOff makes the drone start flying, and publishes `flying` event
    59  func (a *Driver) TakeOff() {
    60  	a.Publish(a.Event("flying"), a.adaptor().drone.Takeoff())
    61  }
    62  
    63  // Land causes the drone to land
    64  func (a *Driver) Land() {
    65  	a.adaptor().drone.Land()
    66  }
    67  
    68  // Up makes the drone gain altitude.
    69  // speed can be a value from `0.0` to `1.0`.
    70  func (a *Driver) Up(speed float64) {
    71  	a.adaptor().drone.Up(speed)
    72  }
    73  
    74  // Down makes the drone reduce altitude.
    75  // speed can be a value from `0.0` to `1.0`.
    76  func (a *Driver) Down(speed float64) {
    77  	a.adaptor().drone.Down(speed)
    78  }
    79  
    80  // Left causes the drone to bank to the left, controls the roll, which is
    81  // a horizontal movement using the camera as a reference point.
    82  // speed can be a value from `0.0` to `1.0`.
    83  func (a *Driver) Left(speed float64) {
    84  	a.adaptor().drone.Left(speed)
    85  }
    86  
    87  // Right causes the drone to bank to the right, controls the roll, which is
    88  // a horizontal movement using the camera as a reference point.
    89  // speed can be a value from `0.0` to `1.0`.
    90  func (a *Driver) Right(speed float64) {
    91  	a.adaptor().drone.Right(speed)
    92  }
    93  
    94  // Forward causes the drone go forward, controls the pitch.
    95  // speed can be a value from `0.0` to `1.0`.
    96  func (a *Driver) Forward(speed float64) {
    97  	a.adaptor().drone.Forward(speed)
    98  }
    99  
   100  // Backward causes the drone go backward, controls the pitch.
   101  // speed can be a value from `0.0` to `1.0`.
   102  func (a *Driver) Backward(speed float64) {
   103  	a.adaptor().drone.Backward(speed)
   104  }
   105  
   106  // Clockwise causes the drone to spin in clockwise direction
   107  // speed can be a value from `0.0` to `1.0`.
   108  func (a *Driver) Clockwise(speed float64) {
   109  	a.adaptor().drone.Clockwise(speed)
   110  }
   111  
   112  // CounterClockwise the drone to spin in counter clockwise direction
   113  // speed can be a value from `0.0` to `1.0`.
   114  func (a *Driver) CounterClockwise(speed float64) {
   115  	a.adaptor().drone.Counterclockwise(speed)
   116  }
   117  
   118  // Hover makes the drone to hover in place.
   119  func (a *Driver) Hover() {
   120  	a.adaptor().drone.Hover()
   121  }